Design and Test of Three-axis Automatic Rubber Tapping Device Based on Laser Profiling

Abstract:

Aiming to solve the problems of high labor intensity and technical difficulty of rubber workers in the natural rubber industry，a three-axis automatic rubber tapping device was designed based on laser profiling. By analyzing the natural rubber tree circumference and manual rubber cutting trajectory within the natural rubber plantation,the structural parameters and algorithm procedures of the three-axis mobile mechanism were determined,and the tapping trajectory of the device was controlled by STM32 development board program. Pasting rubber tapping mechanism and profiling rotary mechanism were designed, and the module distance measurement values under three different tapping states were analyzed. The tree-sticking profiling tapping was completed by the rotation of the servos on the device. Taking rubber tapping angle, rubber tapping depth and the natural rubber tree circumference as test factors, and the qualified rate of rubber tapping depth and qualified rate of rubber tapping surface uniformity as test indexes, the indoor rubber tapping test was designed and carried out by Design-Expert software. the experimental results indicated that when the rubber tapping angle was 24 degrees and the tapping depth was 4.96 mm, the device had excellent tapping effect on different rubber tree circumference. Among them, the rubber tapping effect was the best when the natural rubber tree circumference was 583 mm, with the qualified rate of rubber tapping depth of 91.38% and the qualified rate of rubber tapping surface uniformity of 89.73%, meeting the technical requirements of rubber tapping.